融合腰部虚拟关节的人形机器人仿人全身运动控制OA

The stability of complex motion and the adaptability to social environments are core capabilities for hu-manoid robots to achieve natural interaction and task execution,where high-quality and highly coordinated human-like motion serves as the foundation for their efficient and stable operation.As the key hub for upper-lower limb co-ordination control,the waist degrees of freedom(DOFs)play a critical role in maintaining overall dynamic stability and motion fluency.However,limited attention to waist DOF modeling and control in existing studies often leads to posture distortion or instability during human-like walking.To address this issue,this paper proposes a human-like whole-body motion control framework for humanoid robot with integrated virtual waist joints.The framework first employs a motion capture system to acquire multi-dimensional human joint data,which are mapped into the humanoid robot's joint space to achieve high-fidelity transfer of motion style.Then,considering the DOF discrep-ancy between the human waist and the robot structure,a coupled upper-lower limb dynamic model incorporating virtual pitch and roll waist joints is constructed,and a multi-joint active compensation mechanism is developed to realize coordinated compensation for the virtual waist DOFs.Furthermore,the virtual joints are incorporated into the privileged observation space,and a variable fusion strategy combining adversarial motion prior style rewards and task rewards is designed to achieve whole-body coordinated human-like motion control.Experiments conducted in the Isaac Gym training platform and MuJoCo simulation environment demonstrate that the proposed method significantly improves the naturalness and generalization of humanoid robots' human-like motion under various walking speeds(0.2～1.6 m/s).